File content as of revision 8:c96125e9ac70:

#ifndef Library_h
#define Library_h
#include <math.h>

 float const pi = 3.14159265f;
//Attitude Controller VARIABLES
float const dt_alti = 0.005f;
// Controller gains and /or time constants
float const Ts = 2.0f;//0.3f;
float const OS = 0.5f;

float const zeta = sqrt(log(OS/100.0f)*log(OS/100.0f))/(sqrt(log(OS/100.0f)*log(OS/100.0f)+pi*pi));
float const omega_n = 4.0f/(Ts*zeta);

float const Kp_phi = omega_n*omega_n;
float const Kp_theta = Kp_phi;
float const Td_phi = 1/(zeta*2*Kp_phi*sqrt(Kp_phi));
float const Td_theta = Td_phi;

float const Ts2 = 0.6f;
float const OS2= 0.5f;

float const zeta2 = sqrt(log(OS2/100.0f)*log(OS2/100.0f))/(sqrt(log(OS2/100.0f)*log(OS2/100.0f)+3.1415f*3.1415f));
float const omega_n2 = 4.0f/(Ts2*zeta2);

float const Kp_psi = omega_n2*omega_n2;
float const Td_psi = 4.0f/(Ts2*zeta2);
// Quadcopter moments of inertia (kg.m ^2)
float const I_xx = 16.0e-6f;
float const I_yy = 16.0e-6f;
float const I_zz = 29.0e-6f;
// Attitude Estimator constants
 float const dt = 0.002f;
 float const rho = 0.01f;
 // Mixer
const float alpha = 1.081E-7;
const float beta = 2.678E-11;
const float kl = 2.69E-8;
const float kd = 1.59E-10;
const float l = 33E-3;
const float m = 0.03f;
const float g = 9.81f;
# endif